Coefficients estimation in the dynamic equations of motion of an AUV

This article is about the development of the equations of the movement in 6 DOF of AUV (Autonomous Underwater Vehicle) SIRENA carried out by students of UPCT. As it is a pre-programmed submersible, one of the main targets is to model mathematically the movement of the submarine to achieve simulations of it. The equations are a non-lineal system of EDPs and EDOs and are simplified using its own hydrodynamic coefficients. The aim of this study is to present a nonlineal system of differential equations, function of these coefficients